bridge: implement MSGQ to ZMQ bridge with subscriber-based publishing

[deanlee]

resolve https://github.com/commaai/msgq/issues/282, only publish services that have subscribers.

Implemented an efficient MSGQ to ZMQ bridge using ZMQ's socket monitoring. The bridge connects to the MSGQ services requested by subscribers and publishes events only when subscribers are active. It enters a sleep state and closes all MSGQ sockets when no subscribers are available, ensuring minimal overhead and scalability.

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[sshane]

@deanlee now PJ streaming looks rather choppy and sometimes skips a split second of data, can you take another look at this?

[deanlee]

@sshane I didn't find issue when reviewing the code. Running zmq=1 ./junggle.py --stream also appears to be normal.Has this problem always been present, or is it intermittent?

[deanlee]

I found the issue.looks like the old bridge has the same issue too.I'll fix it when back to my computer